SELECT 
  category_id, 
  parent_id 
FROM 
  cscart_categories 
WHERE 
  parent_id IN(
    30572, 40166, 36105, 32211, 36152, 40167, 
    36151, 30965, 36154, 40148, 40153, 
    30966, 40215, 36157, 36089, 36147, 
    41434, 30575, 40155, 40152, 36123, 
    36059, 35809, 40798, 41055, 39202, 
    40503, 40500, 35083, 39847, 30571, 
    40193, 40502, 36076, 36102, 40498, 
    36150, 40177, 41432, 35775, 40779, 
    41139, 40782, 40794, 29492, 40780, 
    40783, 40795, 40781, 40784, 40796, 
    40797, 40785, 40786, 40787, 16340, 
    16343, 42614, 29493, 16362, 42575, 
    42577, 16374, 16494, 16210, 42611
  )

Query time 0.00058

JSON explain

{
  "query_block": {
    "select_id": 1,
    "cost_info": {
      "query_cost": "19.88"
    },
    "table": {
      "table_name": "cscart_categories",
      "access_type": "range",
      "possible_keys": [
        "parent"
      ],
      "key": "parent",
      "used_key_parts": [
        "parent_id"
      ],
      "key_length": "3",
      "rows_examined_per_scan": 98,
      "rows_produced_per_join": 98,
      "filtered": "100.00",
      "using_index": true,
      "cost_info": {
        "read_cost": "10.08",
        "eval_cost": "9.80",
        "prefix_cost": "19.88",
        "data_read_per_join": "254K"
      },
      "used_columns": [
        "category_id",
        "parent_id"
      ],
      "attached_condition": "(`maniamall_cscart`.`cscart_categories`.`parent_id` in (30572,40166,36105,32211,36152,40167,36151,30965,36154,40148,40153,30966,40215,36157,36089,36147,41434,30575,40155,40152,36123,36059,35809,40798,41055,39202,40503,40500,35083,39847,30571,40193,40502,36076,36102,40498,36150,40177,41432,35775,40779,41139,40782,40794,29492,40780,40783,40795,40781,40784,40796,40797,40785,40786,40787,16340,16343,42614,29493,16362,42575,42577,16374,16494,16210,42611))"
    }
  }
}

Result